Group motion of autonomous vehicles with anti-disturbance protection

Abstract

The cooperative motion of autonomous vehicles (AVs), which communicate through wireless local area networks (WLANs), has been implemented using various technologies, e.g., the Internet of things (IoT). However, there are several insecure disturbances that occur during the communication of intelligent entities. These disturbances can compromise the cooperative control of AVs. In this paper, we propose a cooperative protocol for the group motion in IoT that provides anti-disturbance protection for AVs. More specifically, we construct group motion models of AVs (GMM-AVs) with mixed disturbances. The disturbances are derived from matched and mismatched disturbances, where the former (the latter) denotes that the disturbances and the control inputs exist in the same (different) tunnels. We design disturbances sensors to detect the loss of GMM-AVs and propose anti-disturbance measures to compensate for the loss. Subsequently, we establish a distributed cooperative control protocol (DCCP-CP) that provides countermeasure protection by analyzing the group cooperation of AVs. We also achieve distributed consensus of AVs with multiple disturbances by studying the dynamic characterization of GMM-AVs. DCCP-CP may achieve cooperative group motion for AVs under the scenario of various disturbances. Finally, the simulations results verify the validity of GMM-AVs and DCCP-CP.